mirror of
https://github.com/gnss-sdr/gnss-sdr
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Merge branch 'trk_hi_dyn' of https://github.com/antonioramosdet/gnss-sdr into antonioramosdet-trk_hi_dyn
This commit is contained in:
Carles Fernandez
commit
8e5a24b32d
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@ -0,0 +1,122 @@
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/*!
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* \file volk_gnsssdr_32fc_32f_high_dynamic_rotator_dot_prod_32fc_xn.h
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* \brief VOLK_GNSSSDR kernel: multiplies N complex (32-bit float per component) vectors
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* by a common vector, phase rotated and accumulates the results in N float complex outputs.
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* \authors <ul>
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* <li> Antonio Ramos 2018. antonio.ramosdet(at)gmail.com
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* </ul>
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*
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* VOLK_GNSSSDR kernel that multiplies N 32 bits complex vectors by a common vector, which is
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* phase-rotated by phase offset and phase increment, and accumulates the results
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* in N 32 bits float complex outputs.
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* It is optimized to perform the N tap correlation process in GNSS receivers.
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*
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* -------------------------------------------------------------------------
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*
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* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
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*
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* GNSS-SDR is a software defined Global Navigation
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* Satellite Systems receiver
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*
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* This file is part of GNSS-SDR.
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*
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* GNSS-SDR is free software: you can redistribute it and/or modify
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||||
* it under the terms of the GNU General Public License as published by
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||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
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*
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* GNSS-SDR is distributed in the hope that it will be useful,
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||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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||||
* GNU General Public License for more details.
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||||
*
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||||
* You should have received a copy of the GNU General Public License
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||||
* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
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*
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* -------------------------------------------------------------------------
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*/
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/*!
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* \page volk_gnsssdr_32fc_32f_high_dynamic_rotator_dot_prod_32fc_xn
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*
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* \b Overview
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*
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* Rotates and multiplies the reference complex vector with an arbitrary number of other real vectors,
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* accumulates the results and stores them in the output vector.
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* The rotation is done at a fixed rate per sample, from an initial \p phase offset.
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* This function can be used for Doppler wipe-off and multiple correlator.
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*
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* <b>Dispatcher Prototype</b>
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* \code
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* void volk_gnsssdr_32fc_32f_high_dynamic_rotator_dot_prod_32fc_xn(lv_32fc_t* result, const lv_32fc_t* in_common, const lv_32fc_t phase_inc, const lv_32fc_t phase_inc_rate, lv_32fc_t* phase, const float** in_a, int num_a_vectors, unsigned int num_points);
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* \endcode
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*
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* \b Inputs
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* \li in_common: Pointer to one of the vectors to be rotated, multiplied and accumulated (reference vector).
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* \li phase_inc: Phase increment = lv_cmake(cos(phase_step_rad), sin(phase_step_rad))
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* \li phase_inc_rate: Phase increment rate = lv_cmake(cos(phase_step_rate_rad), sin(phase_step_rate_rad))
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* \li phase: Initial phase = lv_cmake(cos(initial_phase_rad), sin(initial_phase_rad))
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* \li in_a: Pointer to an array of pointers to multiple vectors to be multiplied and accumulated.
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* \li num_a_vectors: Number of vectors to be multiplied by the reference vector and accumulated.
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* \li num_points: Number of complex values to be multiplied together, accumulated and stored into \p result.
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*
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* \b Outputs
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* \li phase: Final phase.
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* \li result: Vector of \p num_a_vectors components with the multiple vectors of \p in_a rotated, multiplied by \p in_common and accumulated.
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*
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*/
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#ifndef INCLUDED_volk_gnsssdr_32fc_32f_high_dynamic_rotator_dot_prod_32fc_xn_H
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#define INCLUDED_volk_gnsssdr_32fc_32f_high_dynamic_rotator_dot_prod_32fc_xn_H
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#include <volk_gnsssdr/volk_gnsssdr.h>
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#include <volk_gnsssdr/volk_gnsssdr_malloc.h>
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#include <volk_gnsssdr/volk_gnsssdr_complex.h>
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#include <volk_gnsssdr/saturation_arithmetic.h>
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#include <math.h>
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#ifdef LV_HAVE_GENERIC
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static inline void volk_gnsssdr_32fc_32f_high_dynamic_rotator_dot_prod_32fc_xn_generic(lv_32fc_t* result, const lv_32fc_t* in_common, const lv_32fc_t phase_inc, const lv_32fc_t phase_inc_rate, lv_32fc_t* phase, const float** in_a, int num_a_vectors, unsigned int num_points)
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{
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lv_32fc_t tmp32_1;
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#ifdef __cplusplus
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lv_32fc_t half_phase_inc_rate = std::sqrt(phase_inc_rate);
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#else
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lv_32fc_t half_phase_inc_rate = csqrtf(phase_inc_rate);
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#endif
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lv_32fc_t constant_rotation = phase_inc * half_phase_inc_rate;
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lv_32fc_t delta_phase_rate = lv_cmake(1.0f, 0.0f);
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int n_vec;
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unsigned int n;
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for (n_vec = 0; n_vec < num_a_vectors; n_vec++)
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{
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result[n_vec] = lv_cmake(0.0f, 0.0f);
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}
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for (n = 0; n < num_points; n++)
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{
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tmp32_1 = *in_common++ * (*phase);
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// Regenerate phase
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if (n % 256 == 0)
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{
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#ifdef __cplusplus
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(*phase) /= std::abs((*phase));
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delta_phase_rate /= std::abs(delta_phase_rate);
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#else
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(*phase) /= hypotf(lv_creal(*phase), lv_cimag(*phase));
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delta_phase_rate /= hypotf(lv_creal(delta_phase_rate), lv_cimag(delta_phase_rate));
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#endif
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}
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(*phase) *= (constant_rotation * delta_phase_rate);
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delta_phase_rate *= phase_inc_rate;
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for (n_vec = 0; n_vec < num_a_vectors; n_vec++)
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{
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result[n_vec] += (tmp32_1 * in_a[n_vec][n]);
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}
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}
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}
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#endif /*LV_HAVE_GENERIC*/
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#endif /* INCLUDED_volk_gnsssdr_32fc_32f_high_dynamic_rotator_dot_prod_32fc_xn_H */
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@ -0,0 +1,163 @@
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/*!
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* \file volk_gnsssdr_32fc_32f_rotator_dotprodxnpuppet_32fc.h
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* \brief Volk puppet for the multiple 16-bit complex dot product kernel.
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* \authors <ul>
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* <li> Carles Fernandez Prades 2016 cfernandez at cttc dot cat
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* </ul>
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*
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* Volk puppet for integrating the resampler into volk's test system
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*
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* -------------------------------------------------------------------------
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*
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* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
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*
|
||||
* GNSS-SDR is a software defined Global Navigation
|
||||
* Satellite Systems receiver
|
||||
*
|
||||
* This file is part of GNSS-SDR.
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||||
*
|
||||
* GNSS-SDR is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* GNSS-SDR is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
|
||||
*
|
||||
* -------------------------------------------------------------------------
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||||
*/
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#ifndef INCLUDED_volk_gnsssdr_32fc_32f_high_dynamic_rotator_dotprodxnpuppet_32fc_H
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#define INCLUDED_volk_gnsssdr_32fc_32f_high_dynamic_rotator_dotprodxnpuppet_32fc_H
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#include "volk_gnsssdr/volk_gnsssdr_32fc_32f_high_dynamic_rotator_dot_prod_32fc_xn.h"
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#include <volk_gnsssdr/volk_gnsssdr_malloc.h>
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#include <volk_gnsssdr/volk_gnsssdr.h>
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#include <string.h>
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#ifdef LV_HAVE_GENERIC
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static inline void volk_gnsssdr_32fc_32f_high_dynamic_rotator_dotprodxnpuppet_32fc_generic(lv_32fc_t* result, const lv_32fc_t* local_code, const float* in, unsigned int num_points)
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{
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// phases must be normalized. Phase rotator expects a complex exponential input!
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float rem_carrier_phase_in_rad = 0.25;
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float phase_step_rad = 0.1;
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lv_32fc_t phase[1];
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phase[0] = lv_cmake(cos(rem_carrier_phase_in_rad), sin(rem_carrier_phase_in_rad));
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lv_32fc_t phase_inc[1];
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phase_inc[0] = lv_cmake(cos(phase_step_rad), sin(phase_step_rad));
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lv_32fc_t phase_inc_rate[1];
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phase_inc_rate[0] = lv_cmake(cos(phase_step_rad * 0.001), sin(phase_step_rad * 0.001));
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int n;
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int num_a_vectors = 3;
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float** in_a = (float**)volk_gnsssdr_malloc(sizeof(float*) * num_a_vectors, volk_gnsssdr_get_alignment());
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for (n = 0; n < num_a_vectors; n++)
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{
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in_a[n] = (float*)volk_gnsssdr_malloc(sizeof(float) * num_points, volk_gnsssdr_get_alignment());
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memcpy((float*)in_a[n], (float*)in, sizeof(float) * num_points);
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}
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volk_gnsssdr_32fc_32f_high_dynamic_rotator_dot_prod_32fc_xn_generic(result, local_code, phase_inc[0], phase_inc_rate[0], phase, (const float**)in_a, num_a_vectors, num_points);
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for (n = 0; n < num_a_vectors; n++)
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{
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volk_gnsssdr_free(in_a[n]);
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}
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volk_gnsssdr_free(in_a);
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}
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#endif // Generic
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//
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//#ifdef LV_HAVE_GENERIC
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//static inline void volk_gnsssdr_32fc_32f_rotator_dotprodxnpuppet_32fc_generic_reload(lv_32fc_t* result, const lv_32fc_t* local_code, const float* in, unsigned int num_points)
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//{
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// // phases must be normalized. Phase rotator expects a complex exponential input!
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// float rem_carrier_phase_in_rad = 0.25;
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// float phase_step_rad = 0.1;
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// lv_32fc_t phase[1];
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// phase[0] = lv_cmake(cos(rem_carrier_phase_in_rad), sin(rem_carrier_phase_in_rad));
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// lv_32fc_t phase_inc[1];
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// phase_inc[0] = lv_cmake(cos(phase_step_rad), sin(phase_step_rad));
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// int n;
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// int num_a_vectors = 3;
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// float** in_a = (float**)volk_gnsssdr_malloc(sizeof(float*) * num_a_vectors, volk_gnsssdr_get_alignment());
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// for (n = 0; n < num_a_vectors; n++)
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// {
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// in_a[n] = (float*)volk_gnsssdr_malloc(sizeof(float) * num_points, volk_gnsssdr_get_alignment());
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// memcpy((float*)in_a[n], (float*)in, sizeof(float) * num_points);
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// }
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// volk_gnsssdr_32fc_32f_rotator_dot_prod_32fc_xn_generic_reload(result, local_code, phase_inc[0], phase, (const float**)in_a, num_a_vectors, num_points);
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//
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// for (n = 0; n < num_a_vectors; n++)
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// {
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// volk_gnsssdr_free(in_a[n]);
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// }
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// volk_gnsssdr_free(in_a);
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//}
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//
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//#endif // Generic
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//
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//#ifdef LV_HAVE_AVX
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||||
//static inline void volk_gnsssdr_32fc_32f_rotator_dotprodxnpuppet_32fc_u_avx(lv_32fc_t* result, const lv_32fc_t* local_code, const float* in, unsigned int num_points)
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||||
//{
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||||
// // phases must be normalized. Phase rotator expects a complex exponential input!
|
||||
// float rem_carrier_phase_in_rad = 0.25;
|
||||
// float phase_step_rad = 0.1;
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// lv_32fc_t phase[1];
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||||
// phase[0] = lv_cmake(cos(rem_carrier_phase_in_rad), sin(rem_carrier_phase_in_rad));
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// lv_32fc_t phase_inc[1];
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// phase_inc[0] = lv_cmake(cos(phase_step_rad), sin(phase_step_rad));
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// int n;
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// int num_a_vectors = 3;
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// float** in_a = (float**)volk_gnsssdr_malloc(sizeof(float*) * num_a_vectors, volk_gnsssdr_get_alignment());
|
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// for (n = 0; n < num_a_vectors; n++)
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// {
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// in_a[n] = (float*)volk_gnsssdr_malloc(sizeof(float) * num_points, volk_gnsssdr_get_alignment());
|
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// memcpy((float*)in_a[n], (float*)in, sizeof(float) * num_points);
|
||||
// }
|
||||
// volk_gnsssdr_32fc_32f_rotator_dot_prod_32fc_xn_u_avx(result, local_code, phase_inc[0], phase, (const float**)in_a, num_a_vectors, num_points);
|
||||
//
|
||||
// for (n = 0; n < num_a_vectors; n++)
|
||||
// {
|
||||
// volk_gnsssdr_free(in_a[n]);
|
||||
// }
|
||||
// volk_gnsssdr_free(in_a);
|
||||
//}
|
||||
//
|
||||
//#endif // AVX
|
||||
//
|
||||
//
|
||||
//#ifdef LV_HAVE_AVX
|
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//static inline void volk_gnsssdr_32fc_32f_rotator_dotprodxnpuppet_32fc_a_avx(lv_32fc_t* result, const lv_32fc_t* local_code, const float* in, unsigned int num_points)
|
||||
//{
|
||||
// // phases must be normalized. Phase rotator expects a complex exponential input!
|
||||
// float rem_carrier_phase_in_rad = 0.25;
|
||||
// float phase_step_rad = 0.1;
|
||||
// lv_32fc_t phase[1];
|
||||
// phase[0] = lv_cmake(cos(rem_carrier_phase_in_rad), sin(rem_carrier_phase_in_rad));
|
||||
// lv_32fc_t phase_inc[1];
|
||||
// phase_inc[0] = lv_cmake(cos(phase_step_rad), sin(phase_step_rad));
|
||||
// int n;
|
||||
// int num_a_vectors = 3;
|
||||
// float** in_a = (float**)volk_gnsssdr_malloc(sizeof(float*) * num_a_vectors, volk_gnsssdr_get_alignment());
|
||||
// for (n = 0; n < num_a_vectors; n++)
|
||||
// {
|
||||
// in_a[n] = (float*)volk_gnsssdr_malloc(sizeof(float) * num_points, volk_gnsssdr_get_alignment());
|
||||
// memcpy((float*)in_a[n], (float*)in, sizeof(float) * num_points);
|
||||
// }
|
||||
// volk_gnsssdr_32fc_32f_rotator_dot_prod_32fc_xn_a_avx(result, local_code, phase_inc[0], phase, (const float**)in_a, num_a_vectors, num_points);
|
||||
//
|
||||
// for (n = 0; n < num_a_vectors; n++)
|
||||
// {
|
||||
// volk_gnsssdr_free(in_a[n]);
|
||||
// }
|
||||
// volk_gnsssdr_free(in_a);
|
||||
//}
|
||||
//
|
||||
//#endif // AVX
|
||||
|
||||
#endif // INCLUDED_volk_gnsssdr_32fc_32f_high_dynamic_rotator_dotprodxnpuppet_32fc_H
|
||||
|
|
@ -99,6 +99,7 @@ std::vector<volk_gnsssdr_test_case_t> init_test_list(volk_gnsssdr_test_params_t
|
|||
QA(VOLK_INIT_PUPP(volk_gnsssdr_16ic_16i_rotator_dotprodxnpuppet_16ic, volk_gnsssdr_16ic_16i_rotator_dot_prod_16ic_xn, test_params_int16))
|
||||
QA(VOLK_INIT_PUPP(volk_gnsssdr_32fc_x2_rotator_dotprodxnpuppet_32fc, volk_gnsssdr_32fc_x2_rotator_dot_prod_32fc_xn, test_params_int1))
|
||||
QA(VOLK_INIT_PUPP(volk_gnsssdr_32fc_32f_rotator_dotprodxnpuppet_32fc, volk_gnsssdr_32fc_32f_rotator_dot_prod_32fc_xn, test_params_int1));
|
||||
QA(VOLK_INIT_PUPP(volk_gnsssdr_32fc_32f_high_dynamic_rotator_dotprodxnpuppet_32fc, volk_gnsssdr_32fc_32f_high_dynamic_rotator_dot_prod_32fc_xn, test_params_int1));
|
||||
|
||||
return test_cases;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -59,6 +59,16 @@ GalileoE1DllPllVemlTracking::GalileoE1DllPllVemlTracking(
|
|||
trk_param.fs_in = fs_in;
|
||||
bool dump = configuration->property(role + ".dump", false);
|
||||
trk_param.dump = dump;
|
||||
trk_param.high_dyn = configuration->property(role + ".high_dyn", false);
|
||||
if (configuration->property(role + ".smoother_length", 10) < 1)
|
||||
{
|
||||
trk_param.smoother_length = 1;
|
||||
std::cout << TEXT_RED << "WARNING: Gal. E1. smoother_length must be bigger than 0. It has been set to 1" << TEXT_RESET << std::endl;
|
||||
}
|
||||
else
|
||||
{
|
||||
trk_param.smoother_length = configuration->property(role + ".smoother_length", 10);
|
||||
}
|
||||
float pll_bw_hz = configuration->property(role + ".pll_bw_hz", 5.0);
|
||||
if (FLAGS_pll_bw_hz != 0.0) pll_bw_hz = static_cast<float>(FLAGS_pll_bw_hz);
|
||||
trk_param.pll_bw_hz = pll_bw_hz;
|
||||
|
|
|
|||
|
|
@ -59,6 +59,16 @@ GalileoE5aDllPllTracking::GalileoE5aDllPllTracking(
|
|||
trk_param.fs_in = fs_in;
|
||||
bool dump = configuration->property(role + ".dump", false);
|
||||
trk_param.dump = dump;
|
||||
trk_param.high_dyn = configuration->property(role + ".high_dyn", false);
|
||||
if (configuration->property(role + ".smoother_length", 10) < 1)
|
||||
{
|
||||
trk_param.smoother_length = 1;
|
||||
std::cout << TEXT_RED << "WARNING: Gal. E5a. smoother_length must be bigger than 0. It has been set to 1" << TEXT_RESET << std::endl;
|
||||
}
|
||||
else
|
||||
{
|
||||
trk_param.smoother_length = configuration->property(role + ".smoother_length", 10);
|
||||
}
|
||||
float pll_bw_hz = configuration->property(role + ".pll_bw_hz", 20.0);
|
||||
if (FLAGS_pll_bw_hz != 0.0) pll_bw_hz = static_cast<float>(FLAGS_pll_bw_hz);
|
||||
trk_param.pll_bw_hz = pll_bw_hz;
|
||||
|
|
|
|||
|
|
@ -57,6 +57,16 @@ GpsL1CaDllPllTracking::GpsL1CaDllPllTracking(
|
|||
int fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
|
||||
int fs_in = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
|
||||
trk_param.fs_in = fs_in;
|
||||
trk_param.high_dyn = configuration->property(role + ".high_dyn", false);
|
||||
if (configuration->property(role + ".smoother_length", 10) < 1)
|
||||
{
|
||||
trk_param.smoother_length = 1;
|
||||
std::cout << TEXT_RED << "WARNING: GPS L1 C/A. smoother_length must be bigger than 0. It has been set to 1" << TEXT_RESET << std::endl;
|
||||
}
|
||||
else
|
||||
{
|
||||
trk_param.smoother_length = configuration->property(role + ".smoother_length", 10);
|
||||
}
|
||||
bool dump = configuration->property(role + ".dump", false);
|
||||
trk_param.dump = dump;
|
||||
float pll_bw_hz = configuration->property(role + ".pll_bw_hz", 50.0);
|
||||
|
|
|
|||
|
|
@ -59,6 +59,16 @@ GpsL5DllPllTracking::GpsL5DllPllTracking(
|
|||
trk_param.fs_in = fs_in;
|
||||
bool dump = configuration->property(role + ".dump", false);
|
||||
trk_param.dump = dump;
|
||||
trk_param.high_dyn = configuration->property(role + ".high_dyn", false);
|
||||
if (configuration->property(role + ".smoother_length", 10) < 1)
|
||||
{
|
||||
trk_param.smoother_length = 1;
|
||||
std::cout << TEXT_RED << "WARNING: GPS L5. smoother_length must be bigger than 0. It has been set to 1" << TEXT_RESET << std::endl;
|
||||
}
|
||||
else
|
||||
{
|
||||
trk_param.smoother_length = configuration->property(role + ".smoother_length", 10);
|
||||
}
|
||||
float pll_bw_hz = configuration->property(role + ".pll_bw_hz", 50.0);
|
||||
if (FLAGS_pll_bw_hz != 0.0) pll_bw_hz = static_cast<float>(FLAGS_pll_bw_hz);
|
||||
trk_param.pll_bw_hz = pll_bw_hz;
|
||||
|
|
|
|||
|
|
@ -58,6 +58,7 @@
|
|||
#include <cmath>
|
||||
#include <iostream>
|
||||
#include <sstream>
|
||||
#include <numeric>
|
||||
|
||||
using google::LogMessage;
|
||||
|
||||
|
|
@ -355,6 +356,7 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
|
|||
{
|
||||
// Extra correlator for the data component
|
||||
correlator_data_cpu.init(2 * trk_parameters.vector_length, 1);
|
||||
correlator_data_cpu.set_high_dynamics_resampler(trk_parameters.high_dyn);
|
||||
d_data_code = static_cast<float *>(volk_gnsssdr_malloc(2 * d_code_length_chips * sizeof(float), volk_gnsssdr_get_alignment()));
|
||||
}
|
||||
else
|
||||
|
|
@ -363,7 +365,7 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
|
|||
}
|
||||
|
||||
// --- Initializations ---
|
||||
multicorrelator_cpu.set_high_dynamics_resampler(trk_parameters.use_high_dynamics_resampler);
|
||||
multicorrelator_cpu.set_high_dynamics_resampler(trk_parameters.high_dyn);
|
||||
// Initial code frequency basis of NCO
|
||||
d_code_freq_chips = d_code_chip_rate;
|
||||
// Residual code phase (in chips)
|
||||
|
|
@ -397,12 +399,22 @@ dll_pll_veml_tracking::dll_pll_veml_tracking(const Dll_Pll_Conf &conf_) : gr::bl
|
|||
d_code_phase_step_chips = 0.0;
|
||||
d_code_phase_rate_step_chips = 0.0;
|
||||
d_carrier_phase_step_rad = 0.0;
|
||||
d_carrier_phase_rate_step_rad = 0.0;
|
||||
d_rem_code_phase_chips = 0.0;
|
||||
d_K_blk_samples = 0.0;
|
||||
d_code_phase_samples = 0.0;
|
||||
d_last_prompt = gr_complex(0.0, 0.0);
|
||||
d_state = 0; // initial state: standby
|
||||
clear_tracking_vars();
|
||||
if (trk_parameters.smoother_length > 0)
|
||||
{
|
||||
d_carr_ph_history.resize(trk_parameters.smoother_length * 2);
|
||||
d_code_ph_history.resize(trk_parameters.smoother_length * 2);
|
||||
}
|
||||
else
|
||||
{
|
||||
d_carr_ph_history.resize(1);
|
||||
d_code_ph_history.resize(1);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
|
@ -424,6 +436,7 @@ void dll_pll_veml_tracking::start_tracking()
|
|||
// new chip and PRN sequence periods based on acq Doppler
|
||||
d_code_freq_chips = radial_velocity * d_code_chip_rate;
|
||||
d_code_phase_step_chips = d_code_freq_chips / trk_parameters.fs_in;
|
||||
d_code_phase_rate_step_chips = 0.0;
|
||||
double T_chip_mod_seconds = 1.0 / d_code_freq_chips;
|
||||
double T_prn_mod_seconds = T_chip_mod_seconds * static_cast<double>(d_code_length_chips);
|
||||
double T_prn_mod_samples = T_prn_mod_seconds * trk_parameters.fs_in;
|
||||
|
|
@ -446,7 +459,9 @@ void dll_pll_veml_tracking::start_tracking()
|
|||
|
||||
d_carrier_doppler_hz = d_acq_carrier_doppler_hz;
|
||||
d_carrier_phase_step_rad = PI_2 * d_carrier_doppler_hz / trk_parameters.fs_in;
|
||||
|
||||
d_carrier_phase_rate_step_rad = 0.0;
|
||||
d_carr_ph_history.clear();
|
||||
d_code_ph_history.clear();
|
||||
// DLL/PLL filter initialization
|
||||
d_carrier_loop_filter.initialize(); // initialize the carrier filter
|
||||
d_code_loop_filter.initialize(); // initialize the code filter
|
||||
|
|
@ -706,7 +721,7 @@ void dll_pll_veml_tracking::do_correlation_step(const gr_complex *input_samples)
|
|||
multicorrelator_cpu.set_input_output_vectors(d_correlator_outs, input_samples);
|
||||
multicorrelator_cpu.Carrier_wipeoff_multicorrelator_resampler(
|
||||
d_rem_carr_phase_rad,
|
||||
d_carrier_phase_step_rad,
|
||||
d_carrier_phase_step_rad, d_carrier_phase_rate_step_rad,
|
||||
static_cast<float>(d_rem_code_phase_chips) * static_cast<float>(d_code_samples_per_chip),
|
||||
static_cast<float>(d_code_phase_step_chips) * static_cast<float>(d_code_samples_per_chip),
|
||||
static_cast<float>(d_code_phase_rate_step_chips) * static_cast<float>(d_code_samples_per_chip),
|
||||
|
|
@ -718,7 +733,7 @@ void dll_pll_veml_tracking::do_correlation_step(const gr_complex *input_samples)
|
|||
correlator_data_cpu.set_input_output_vectors(d_Prompt_Data, input_samples);
|
||||
correlator_data_cpu.Carrier_wipeoff_multicorrelator_resampler(
|
||||
d_rem_carr_phase_rad,
|
||||
d_carrier_phase_step_rad,
|
||||
d_carrier_phase_step_rad, d_carrier_phase_rate_step_rad,
|
||||
static_cast<float>(d_rem_code_phase_chips) * static_cast<float>(d_code_samples_per_chip),
|
||||
static_cast<float>(d_code_phase_step_chips) * static_cast<float>(d_code_samples_per_chip),
|
||||
static_cast<float>(d_code_phase_rate_step_chips) * static_cast<float>(d_code_samples_per_chip),
|
||||
|
|
@ -777,6 +792,10 @@ void dll_pll_veml_tracking::clear_tracking_vars()
|
|||
d_current_symbol = 0;
|
||||
d_Prompt_buffer_deque.clear();
|
||||
d_last_prompt = gr_complex(0.0, 0.0);
|
||||
d_carrier_phase_rate_step_rad = 0.0;
|
||||
d_code_phase_rate_step_chips = 0.0;
|
||||
d_carr_ph_history.clear();
|
||||
d_code_ph_history.clear();
|
||||
}
|
||||
|
||||
|
||||
|
|
@ -796,15 +815,60 @@ void dll_pll_veml_tracking::update_tracking_vars()
|
|||
//################### PLL COMMANDS #################################################
|
||||
// carrier phase step (NCO phase increment per sample) [rads/sample]
|
||||
d_carrier_phase_step_rad = PI_2 * d_carrier_doppler_hz / trk_parameters.fs_in;
|
||||
// carrier phase rate step (NCO phase increment rate per sample) [rads/sample^2]
|
||||
if (trk_parameters.high_dyn)
|
||||
{
|
||||
d_carr_ph_history.push_back(std::pair<double, double>(d_carrier_phase_step_rad, static_cast<double>(d_current_prn_length_samples)));
|
||||
if (d_carr_ph_history.full())
|
||||
{
|
||||
double tmp_cp1 = 0.0;
|
||||
double tmp_cp2 = 0.0;
|
||||
double tmp_samples = 0.0;
|
||||
for (unsigned int k = 0; k < trk_parameters.smoother_length; k++)
|
||||
{
|
||||
tmp_cp1 += d_carr_ph_history.at(k).first;
|
||||
tmp_cp2 += d_carr_ph_history.at(trk_parameters.smoother_length * 2 - k - 1).first;
|
||||
tmp_samples += d_carr_ph_history.at(trk_parameters.smoother_length * 2 - k - 1).second;
|
||||
}
|
||||
tmp_cp1 /= static_cast<double>(trk_parameters.smoother_length);
|
||||
tmp_cp2 /= static_cast<double>(trk_parameters.smoother_length);
|
||||
d_carrier_phase_rate_step_rad = (tmp_cp2 - tmp_cp1) / tmp_samples;
|
||||
}
|
||||
}
|
||||
//std::cout << d_carrier_phase_rate_step_rad * trk_parameters.fs_in * trk_parameters.fs_in / PI_2 << std::endl;
|
||||
// remnant carrier phase to prevent overflow in the code NCO
|
||||
d_rem_carr_phase_rad += d_carrier_phase_step_rad * static_cast<double>(d_current_prn_length_samples);
|
||||
d_rem_carr_phase_rad += static_cast<float>(d_carrier_phase_step_rad * static_cast<double>(d_current_prn_length_samples) + 0.5 * d_carrier_phase_rate_step_rad * static_cast<double>(d_current_prn_length_samples) * static_cast<double>(d_current_prn_length_samples));
|
||||
d_rem_carr_phase_rad = fmod(d_rem_carr_phase_rad, PI_2);
|
||||
|
||||
|
||||
// carrier phase accumulator
|
||||
d_acc_carrier_phase_rad -= d_carrier_phase_step_rad * static_cast<double>(d_current_prn_length_samples);
|
||||
//double a = d_carrier_phase_step_rad * static_cast<double>(d_current_prn_length_samples);
|
||||
//double b = 0.5 * d_carrier_phase_rate_step_rad * static_cast<double>(d_current_prn_length_samples) * static_cast<double>(d_current_prn_length_samples);
|
||||
//std::cout << fmod(b, PI_2) / fmod(a, PI_2) << std::endl;
|
||||
d_acc_carrier_phase_rad -= (d_carrier_phase_step_rad * static_cast<double>(d_current_prn_length_samples) + 0.5 * d_carrier_phase_rate_step_rad * static_cast<double>(d_current_prn_length_samples) * static_cast<double>(d_current_prn_length_samples));
|
||||
|
||||
//################### DLL COMMANDS #################################################
|
||||
// code phase step (Code resampler phase increment per sample) [chips/sample]
|
||||
d_code_phase_step_chips = d_code_freq_chips / trk_parameters.fs_in;
|
||||
if (trk_parameters.high_dyn)
|
||||
{
|
||||
d_code_ph_history.push_back(std::pair<double, double>(d_code_phase_step_chips, static_cast<double>(d_current_prn_length_samples)));
|
||||
if (d_code_ph_history.full())
|
||||
{
|
||||
double tmp_cp1 = 0.0;
|
||||
double tmp_cp2 = 0.0;
|
||||
double tmp_samples = 0.0;
|
||||
for (unsigned int k = 0; k < trk_parameters.smoother_length; k++)
|
||||
{
|
||||
tmp_cp1 += d_code_ph_history.at(k).first;
|
||||
tmp_cp2 += d_code_ph_history.at(trk_parameters.smoother_length * 2 - k - 1).first;
|
||||
tmp_samples += d_code_ph_history.at(trk_parameters.smoother_length * 2 - k - 1).second;
|
||||
}
|
||||
tmp_cp1 /= static_cast<double>(trk_parameters.smoother_length);
|
||||
tmp_cp2 /= static_cast<double>(trk_parameters.smoother_length);
|
||||
d_code_phase_rate_step_chips = (tmp_cp2 - tmp_cp1) / tmp_samples;
|
||||
}
|
||||
}
|
||||
// remnant code phase [chips]
|
||||
d_rem_code_phase_samples = K_blk_samples - static_cast<double>(d_current_prn_length_samples); // rounding error < 1 sample
|
||||
d_rem_code_phase_chips = d_code_freq_chips * d_rem_code_phase_samples / trk_parameters.fs_in;
|
||||
|
|
@ -947,8 +1011,14 @@ void dll_pll_veml_tracking::log_data(bool integrating)
|
|||
// carrier and code frequency
|
||||
tmp_float = d_carrier_doppler_hz;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
// carrier phase rate [Hz/s]
|
||||
tmp_float = d_carrier_phase_rate_step_rad * trk_parameters.fs_in * trk_parameters.fs_in / PI_2;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
tmp_float = d_code_freq_chips;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
// code phase rate [chips/s^2]
|
||||
tmp_float = d_code_phase_rate_step_chips * trk_parameters.fs_in * trk_parameters.fs_in;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
// PLL commands
|
||||
tmp_float = d_carr_error_hz;
|
||||
d_dump_file.write(reinterpret_cast<char *>(&tmp_float), sizeof(float));
|
||||
|
|
@ -986,7 +1056,7 @@ int32_t dll_pll_veml_tracking::save_matfile()
|
|||
// READ DUMP FILE
|
||||
std::ifstream::pos_type size;
|
||||
int32_t number_of_double_vars = 1;
|
||||
int32_t number_of_float_vars = 17;
|
||||
int32_t number_of_float_vars = 19;
|
||||
int32_t epoch_size_bytes = sizeof(uint64_t) + sizeof(double) * number_of_double_vars +
|
||||
sizeof(float) * number_of_float_vars + sizeof(uint32_t);
|
||||
std::ifstream dump_file;
|
||||
|
|
@ -1022,7 +1092,9 @@ int32_t dll_pll_veml_tracking::save_matfile()
|
|||
uint64_t *PRN_start_sample_count = new uint64_t[num_epoch];
|
||||
float *acc_carrier_phase_rad = new float[num_epoch];
|
||||
float *carrier_doppler_hz = new float[num_epoch];
|
||||
float *carrier_doppler_rate_hz = new float[num_epoch];
|
||||
float *code_freq_chips = new float[num_epoch];
|
||||
float *code_freq_rate_chips = new float[num_epoch];
|
||||
float *carr_error_hz = new float[num_epoch];
|
||||
float *carr_error_filt_hz = new float[num_epoch];
|
||||
float *code_error_chips = new float[num_epoch];
|
||||
|
|
@ -1049,7 +1121,9 @@ int32_t dll_pll_veml_tracking::save_matfile()
|
|||
dump_file.read(reinterpret_cast<char *>(&PRN_start_sample_count[i]), sizeof(uint64_t));
|
||||
dump_file.read(reinterpret_cast<char *>(&acc_carrier_phase_rad[i]), sizeof(float));
|
||||
dump_file.read(reinterpret_cast<char *>(&carrier_doppler_hz[i]), sizeof(float));
|
||||
dump_file.read(reinterpret_cast<char *>(&carrier_doppler_rate_hz[i]), sizeof(float));
|
||||
dump_file.read(reinterpret_cast<char *>(&code_freq_chips[i]), sizeof(float));
|
||||
dump_file.read(reinterpret_cast<char *>(&code_freq_rate_chips[i]), sizeof(float));
|
||||
dump_file.read(reinterpret_cast<char *>(&carr_error_hz[i]), sizeof(float));
|
||||
dump_file.read(reinterpret_cast<char *>(&carr_error_filt_hz[i]), sizeof(float));
|
||||
dump_file.read(reinterpret_cast<char *>(&code_error_chips[i]), sizeof(float));
|
||||
|
|
@ -1076,7 +1150,9 @@ int32_t dll_pll_veml_tracking::save_matfile()
|
|||
delete[] PRN_start_sample_count;
|
||||
delete[] acc_carrier_phase_rad;
|
||||
delete[] carrier_doppler_hz;
|
||||
delete[] carrier_doppler_rate_hz;
|
||||
delete[] code_freq_chips;
|
||||
delete[] code_freq_rate_chips;
|
||||
delete[] carr_error_hz;
|
||||
delete[] carr_error_filt_hz;
|
||||
delete[] code_error_chips;
|
||||
|
|
@ -1139,10 +1215,18 @@ int32_t dll_pll_veml_tracking::save_matfile()
|
|||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
||||
Mat_VarFree(matvar);
|
||||
|
||||
matvar = Mat_VarCreate("carrier_doppler_rate_hz", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, carrier_doppler_rate_hz, 0);
|
||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
||||
Mat_VarFree(matvar);
|
||||
|
||||
matvar = Mat_VarCreate("code_freq_chips", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, code_freq_chips, 0);
|
||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
||||
Mat_VarFree(matvar);
|
||||
|
||||
matvar = Mat_VarCreate("code_freq_rate_chips", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, code_freq_rate_chips, 0);
|
||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
||||
Mat_VarFree(matvar);
|
||||
|
||||
matvar = Mat_VarCreate("carr_error_hz", MAT_C_SINGLE, MAT_T_SINGLE, 2, dims, carr_error_hz, 0);
|
||||
Mat_VarWrite(matfp, matvar, MAT_COMPRESSION_ZLIB); // or MAT_COMPRESSION_NONE
|
||||
Mat_VarFree(matvar);
|
||||
|
|
@ -1190,7 +1274,9 @@ int32_t dll_pll_veml_tracking::save_matfile()
|
|||
delete[] PRN_start_sample_count;
|
||||
delete[] acc_carrier_phase_rad;
|
||||
delete[] carrier_doppler_hz;
|
||||
delete[] carrier_doppler_rate_hz;
|
||||
delete[] code_freq_chips;
|
||||
delete[] code_freq_rate_chips;
|
||||
delete[] carr_error_hz;
|
||||
delete[] carr_error_filt_hz;
|
||||
delete[] code_error_chips;
|
||||
|
|
|
|||
|
|
@ -41,6 +41,7 @@
|
|||
#include <string>
|
||||
#include <map>
|
||||
#include <queue>
|
||||
#include <utility>
|
||||
#include <boost/circular_buffer.hpp>
|
||||
|
||||
class dll_pll_veml_tracking;
|
||||
|
|
@ -146,10 +147,13 @@ private:
|
|||
|
||||
double d_code_phase_step_chips;
|
||||
double d_code_phase_rate_step_chips;
|
||||
boost::circular_buffer<std::pair<double, double>> d_code_ph_history;
|
||||
double d_carrier_phase_step_rad;
|
||||
double d_carrier_phase_rate_step_rad;
|
||||
boost::circular_buffer<std::pair<double, double>> d_carr_ph_history;
|
||||
// remaining code phase and carrier phase between tracking loops
|
||||
double d_rem_code_phase_samples;
|
||||
double d_rem_carr_phase_rad;
|
||||
float d_rem_carr_phase_rad;
|
||||
|
||||
// PLL and DLL filter library
|
||||
Tracking_2nd_DLL_filter d_code_loop_filter;
|
||||
|
|
@ -164,7 +168,6 @@ private:
|
|||
double d_carr_error_filt_hz;
|
||||
double d_code_error_chips;
|
||||
double d_code_error_filt_chips;
|
||||
double d_K_blk_samples;
|
||||
double d_code_freq_chips;
|
||||
double d_carrier_doppler_hz;
|
||||
double d_acc_carrier_phase_rad;
|
||||
|
|
|
|||
|
|
@ -125,7 +125,32 @@ void cpu_multicorrelator_real_codes::update_local_code(int correlator_length_sam
|
|||
}
|
||||
}
|
||||
|
||||
|
||||
// Overload Carrier_wipeoff_multicorrelator_resampler to ensure back compatibility
|
||||
bool cpu_multicorrelator_real_codes::Carrier_wipeoff_multicorrelator_resampler(
|
||||
float rem_carrier_phase_in_rad,
|
||||
float phase_step_rad,
|
||||
float phase_rate_step_rad,
|
||||
float rem_code_phase_chips,
|
||||
float code_phase_step_chips,
|
||||
float code_phase_rate_step_chips,
|
||||
int signal_length_samples)
|
||||
{
|
||||
update_local_code(signal_length_samples, rem_code_phase_chips, code_phase_step_chips, code_phase_rate_step_chips);
|
||||
// Regenerate phase at each call in order to avoid numerical issues
|
||||
lv_32fc_t phase_offset_as_complex[1];
|
||||
phase_offset_as_complex[0] = lv_cmake(std::cos(rem_carrier_phase_in_rad), -std::sin(rem_carrier_phase_in_rad));
|
||||
// call VOLK_GNSSSDR kernel
|
||||
if (d_use_high_dynamics_resampler)
|
||||
{
|
||||
volk_gnsssdr_32fc_32f_high_dynamic_rotator_dot_prod_32fc_xn(d_corr_out, d_sig_in, std::exp(lv_32fc_t(0.0, -phase_step_rad)), std::exp(lv_32fc_t(0.0, -phase_rate_step_rad)), phase_offset_as_complex, const_cast<const float**>(d_local_codes_resampled), d_n_correlators, signal_length_samples);
|
||||
}
|
||||
else
|
||||
{
|
||||
volk_gnsssdr_32fc_32f_rotator_dot_prod_32fc_xn(d_corr_out, d_sig_in, std::exp(lv_32fc_t(0.0, -phase_step_rad)), phase_offset_as_complex, const_cast<const float**>(d_local_codes_resampled), d_n_correlators, signal_length_samples);
|
||||
}
|
||||
return true;
|
||||
}
|
||||
// Overload Carrier_wipeoff_multicorrelator_resampler to ensure back compatibility
|
||||
bool cpu_multicorrelator_real_codes::Carrier_wipeoff_multicorrelator_resampler(
|
||||
float rem_carrier_phase_in_rad,
|
||||
float phase_step_rad,
|
||||
|
|
|
|||
|
|
@ -52,6 +52,8 @@ public:
|
|||
bool set_local_code_and_taps(int code_length_chips, const float *local_code_in, float *shifts_chips);
|
||||
bool set_input_output_vectors(std::complex<float> *corr_out, const std::complex<float> *sig_in);
|
||||
void update_local_code(int correlator_length_samples, float rem_code_phase_chips, float code_phase_step_chips, float code_phase_rate_step_chips = 0.0);
|
||||
// Overload Carrier_wipeoff_multicorrelator_resampler to ensure back compatibility
|
||||
bool Carrier_wipeoff_multicorrelator_resampler(float rem_carrier_phase_in_rad, float phase_step_rad, float phase_rate_step_rad, float rem_code_phase_chips, float code_phase_step_chips, float code_phase_rate_step_chips, int signal_length_samples);
|
||||
bool Carrier_wipeoff_multicorrelator_resampler(float rem_carrier_phase_in_rad, float phase_step_rad, float rem_code_phase_chips, float code_phase_step_chips, float code_phase_rate_step_chips, int signal_length_samples);
|
||||
bool free();
|
||||
|
||||
|
|
|
|||
|
|
@ -36,7 +36,8 @@
|
|||
Dll_Pll_Conf::Dll_Pll_Conf()
|
||||
{
|
||||
/* DLL/PLL tracking configuration */
|
||||
use_high_dynamics_resampler = true;
|
||||
high_dyn = false;
|
||||
smoother_length = 10;
|
||||
fs_in = 0.0;
|
||||
vector_length = 0U;
|
||||
dump = false;
|
||||
|
|
|
|||
|
|
@ -56,11 +56,12 @@ public:
|
|||
float early_late_space_narrow_chips;
|
||||
float very_early_late_space_narrow_chips;
|
||||
int32_t extend_correlation_symbols;
|
||||
bool use_high_dynamics_resampler;
|
||||
bool high_dyn;
|
||||
int32_t cn0_samples;
|
||||
int32_t carrier_lock_det_mav_samples;
|
||||
int32_t cn0_min;
|
||||
int32_t max_lock_fail;
|
||||
uint32_t smoother_length;
|
||||
double carrier_lock_th;
|
||||
bool track_pilot;
|
||||
char system;
|
||||
|
|
|
|||
|
|
@ -41,7 +41,7 @@ DEFINE_bool(enable_external_signal_file, false, "Use an external signal file cap
|
|||
DEFINE_double(external_signal_acquisition_threshold, 2.5, "Threshold for satellite acquisition when external file is used");
|
||||
DEFINE_int32(external_signal_acquisition_dwells, 5, "Maximum dwells count for satellite acquisition when external file is used");
|
||||
DEFINE_double(external_signal_acquisition_doppler_max_hz, 5000.0, "Doppler max for satellite acquisition when external file is used");
|
||||
DEFINE_double(external_signal_acquisition_doppler_step_hz, 125, "Doppler step for satellite acquisition when external file is used");
|
||||
DEFINE_double(external_signal_acquisition_doppler_step_hz, 125.0, "Doppler step for satellite acquisition when external file is used");
|
||||
|
||||
DEFINE_string(signal_file, std::string("signal_out.bin"), "Path of the external signal capture file");
|
||||
DEFINE_double(CN0_dBHz_start, std::numeric_limits<double>::infinity(), "Enable noise generator and set the CN0 start sweep value [dB-Hz]");
|
||||
|
|
@ -77,6 +77,8 @@ DEFINE_double(skip_trk_transitory_s, 1.0, "Skip the initial tracking output sign
|
|||
|
||||
//Tracking configuration
|
||||
DEFINE_int32(extend_correlation_symbols, 1, "Set the tracking coherent correlation to N symbols (up to 20 for GPS L1 C/A)");
|
||||
DEFINE_uint32(smoother_length, 10, "Set the moving average size for the carrier phase and code phase in case of high dynamics");
|
||||
DEFINE_bool(high_dyn, false, "Activates the code resampler and NCO generator for high dynamics");
|
||||
|
||||
//Test output configuration
|
||||
DEFINE_bool(plot_gps_l1_tracking_test, false, "Plots results of GpsL1CADllPllTrackingTest with gnuplot");
|
||||
|
|
|
|||
|
|
@ -45,7 +45,9 @@ bool tracking_dump_reader::read_binary_obs()
|
|||
d_dump_file.read(reinterpret_cast<char *>(&PRN_start_sample_count), sizeof(uint64_t));
|
||||
d_dump_file.read(reinterpret_cast<char *>(&acc_carrier_phase_rad), sizeof(float));
|
||||
d_dump_file.read(reinterpret_cast<char *>(&carrier_doppler_hz), sizeof(float));
|
||||
d_dump_file.read(reinterpret_cast<char *>(&carrier_doppler_rate_hz_s), sizeof(float));
|
||||
d_dump_file.read(reinterpret_cast<char *>(&code_freq_chips), sizeof(float));
|
||||
d_dump_file.read(reinterpret_cast<char *>(&code_freq_rate_chips), sizeof(float));
|
||||
d_dump_file.read(reinterpret_cast<char *>(&carr_error_hz), sizeof(float));
|
||||
d_dump_file.read(reinterpret_cast<char *>(&carr_error_filt_hz), sizeof(float));
|
||||
d_dump_file.read(reinterpret_cast<char *>(&code_error_chips), sizeof(float));
|
||||
|
|
@ -83,7 +85,7 @@ int64_t tracking_dump_reader::num_epochs()
|
|||
{
|
||||
std::ifstream::pos_type size;
|
||||
int number_of_double_vars = 1;
|
||||
int number_of_float_vars = 17;
|
||||
int number_of_float_vars = 19;
|
||||
int epoch_size_bytes = sizeof(uint64_t) + sizeof(double) * number_of_double_vars +
|
||||
sizeof(float) * number_of_float_vars + sizeof(unsigned int);
|
||||
std::ifstream tmpfile(d_dump_filename.c_str(), std::ios::binary | std::ios::ate);
|
||||
|
|
|
|||
|
|
@ -63,7 +63,9 @@ public:
|
|||
|
||||
// carrier and code frequency
|
||||
float carrier_doppler_hz;
|
||||
float carrier_doppler_rate_hz_s;
|
||||
float code_freq_chips;
|
||||
float code_freq_rate_chips;
|
||||
|
||||
// PLL commands
|
||||
float carr_error_hz;
|
||||
|
|
|
|||
|
|
@ -260,7 +260,9 @@ public:
|
|||
double DLL_wide_bw_hz,
|
||||
double PLL_narrow_bw_hz,
|
||||
double DLL_narrow_bw_hz,
|
||||
int extend_correlation_symbols);
|
||||
int extend_correlation_symbols,
|
||||
uint32_t smoother_length,
|
||||
bool high_dyn);
|
||||
|
||||
gr::top_block_sptr top_block;
|
||||
std::shared_ptr<GNSSBlockFactory> factory;
|
||||
|
|
@ -540,10 +542,17 @@ void HybridObservablesTest::configure_receiver(
|
|||
double DLL_wide_bw_hz,
|
||||
double PLL_narrow_bw_hz,
|
||||
double DLL_narrow_bw_hz,
|
||||
int extend_correlation_symbols)
|
||||
int extend_correlation_symbols,
|
||||
uint32_t smoother_length,
|
||||
bool high_dyn)
|
||||
{
|
||||
config = std::make_shared<InMemoryConfiguration>();
|
||||
config->set_property("Tracking.dump", "true");
|
||||
if (high_dyn)
|
||||
config->set_property("Tracking.high_dyn", "true");
|
||||
else
|
||||
config->set_property("Tracking.high_dyn", "false");
|
||||
config->set_property("Tracking.smoother_length", std::to_string(smoother_length));
|
||||
config->set_property("Tracking.dump_filename", "./tracking_ch_");
|
||||
config->set_property("Tracking.implementation", implementation);
|
||||
config->set_property("Tracking.item_type", "gr_complex");
|
||||
|
|
@ -650,6 +659,8 @@ void HybridObservablesTest::configure_receiver(
|
|||
std::cout << "pll_bw_narrow_hz: " << config->property("Tracking.pll_bw_narrow_hz", 0.0) << " Hz\n";
|
||||
std::cout << "dll_bw_narrow_hz: " << config->property("Tracking.dll_bw_narrow_hz", 0.0) << " Hz\n";
|
||||
std::cout << "extend_correlation_symbols: " << config->property("Tracking.extend_correlation_symbols", 0) << " Symbols\n";
|
||||
std::cout << "high_dyn: " << config->property("Tracking.high_dyn", false) << "\n";
|
||||
std::cout << "smoother_length: " << config->property("Tracking.smoother_length", 0) << "\n";
|
||||
std::cout << "*****************************************\n";
|
||||
std::cout << "*****************************************\n";
|
||||
}
|
||||
|
|
@ -1499,7 +1510,9 @@ TEST_F(HybridObservablesTest, ValidationOfResults)
|
|||
FLAGS_DLL_bw_hz_start,
|
||||
FLAGS_PLL_narrow_bw_hz,
|
||||
FLAGS_DLL_narrow_bw_hz,
|
||||
FLAGS_extend_correlation_symbols);
|
||||
FLAGS_extend_correlation_symbols,
|
||||
FLAGS_smoother_length,
|
||||
FLAGS_high_dyn);
|
||||
|
||||
|
||||
for (unsigned int n = 0; n < gnss_synchro_vec.size(); n++)
|
||||
|
|
@ -1883,6 +1896,18 @@ TEST_F(HybridObservablesTest, ValidationOfResults)
|
|||
measured_obs_vec.at(n).col(2).colptr(0) + measured_obs_vec.at(n).col(2).n_rows);
|
||||
save_mat_xy(tmp_vector_x4, tmp_vector_y4, std::string("measured_doppler_ch_" + std::to_string(n)));
|
||||
|
||||
std::vector<double> tmp_vector_x5(true_obs_vec.at(n).col(0).colptr(0),
|
||||
true_obs_vec.at(n).col(0).colptr(0) + true_obs_vec.at(n).col(0).n_rows);
|
||||
std::vector<double> tmp_vector_y5(true_obs_vec.at(n).col(3).colptr(0),
|
||||
true_obs_vec.at(n).col(3).colptr(0) + true_obs_vec.at(n).col(3).n_rows);
|
||||
save_mat_xy(tmp_vector_x5, tmp_vector_y5, std::string("true_cp_ch_" + std::to_string(n)));
|
||||
|
||||
std::vector<double> tmp_vector_x6(measured_obs_vec.at(n).col(0).colptr(0),
|
||||
measured_obs_vec.at(n).col(0).colptr(0) + measured_obs_vec.at(n).col(0).n_rows);
|
||||
std::vector<double> tmp_vector_y6(measured_obs_vec.at(n).col(3).colptr(0),
|
||||
measured_obs_vec.at(n).col(3).colptr(0) + measured_obs_vec.at(n).col(3).n_rows);
|
||||
save_mat_xy(tmp_vector_x6, tmp_vector_y6, std::string("measured_cp_ch_" + std::to_string(n)));
|
||||
|
||||
|
||||
if (epoch_counters_vec.at(n) > 10) //discard non-valid channels
|
||||
{
|
||||
|
|
|
|||
|
|
@ -33,7 +33,7 @@ function [GNSS_tracking] = dll_pll_veml_read_tracking_dump (filename, count)
|
|||
|
||||
m = nargchk (1,2,nargin);
|
||||
|
||||
num_float_vars = 17;
|
||||
num_float_vars = 19;
|
||||
num_unsigned_long_int_vars = 1;
|
||||
num_double_vars = 1;
|
||||
num_unsigned_int_vars = 1;
|
||||
|
|
@ -114,17 +114,23 @@ else
|
|||
fseek(f,bytes_shift,'bof'); % move to next float
|
||||
v16 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
|
||||
bytes_shift = bytes_shift + float_size_bytes;
|
||||
fseek(f,bytes_shift,'bof'); % move to next interleaved float
|
||||
fseek(f,bytes_shift,'bof'); % move to next float
|
||||
v17 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
|
||||
bytes_shift = bytes_shift + float_size_bytes;
|
||||
fseek(f,bytes_shift,'bof'); % move to next float
|
||||
v18 = fread (f, count, 'float', skip_bytes_each_read-float_size_bytes);
|
||||
v18 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
|
||||
bytes_shift = bytes_shift + float_size_bytes;
|
||||
fseek(f,bytes_shift,'bof'); % move to next interleaved float
|
||||
v19 = fread (f, count, 'float', skip_bytes_each_read - float_size_bytes);
|
||||
bytes_shift = bytes_shift + float_size_bytes;
|
||||
fseek(f,bytes_shift,'bof'); % move to next float
|
||||
v20 = fread (f, count, 'float', skip_bytes_each_read-float_size_bytes);
|
||||
bytes_shift = bytes_shift + float_size_bytes;
|
||||
fseek(f,bytes_shift,'bof'); % move to next double
|
||||
v19 = fread (f, count, 'double', skip_bytes_each_read - double_size_bytes);
|
||||
v21 = fread (f, count, 'double', skip_bytes_each_read - double_size_bytes);
|
||||
bytes_shift = bytes_shift + double_size_bytes;
|
||||
fseek(f,bytes_shift,'bof'); % move to next unsigned int
|
||||
v20 = fread (f, count, 'uint', skip_bytes_each_read - unsigned_int_size_bytes);
|
||||
v22 = fread (f, count, 'uint', skip_bytes_each_read - unsigned_int_size_bytes);
|
||||
fclose (f);
|
||||
|
||||
GNSS_tracking.VE = v1;
|
||||
|
|
@ -137,15 +143,17 @@ else
|
|||
GNSS_tracking.PRN_start_sample = v8;
|
||||
GNSS_tracking.acc_carrier_phase_rad = v9;
|
||||
GNSS_tracking.carrier_doppler_hz = v10;
|
||||
GNSS_tracking.code_freq_hz = v11;
|
||||
GNSS_tracking.carr_error = v12;
|
||||
GNSS_tracking.carr_nco = v13;
|
||||
GNSS_tracking.code_error = v14;
|
||||
GNSS_tracking.code_nco = v15;
|
||||
GNSS_tracking.CN0_SNV_dB_Hz = v16;
|
||||
GNSS_tracking.carrier_lock_test = v17;
|
||||
GNSS_tracking.var1 = v18;
|
||||
GNSS_tracking.var2 = v19;
|
||||
GNSS_tracking.PRN = v20;
|
||||
GNSS_tracking.carrier_doppler_rate_hz_s = v11;
|
||||
GNSS_tracking.code_freq_hz = v12;
|
||||
GNSS_tracking.code_freq_rate_hz_s = v13;
|
||||
GNSS_tracking.carr_error = v14;
|
||||
GNSS_tracking.carr_nco = v15;
|
||||
GNSS_tracking.code_error = v16;
|
||||
GNSS_tracking.code_nco = v17;
|
||||
GNSS_tracking.CN0_SNV_dB_Hz = v18;
|
||||
GNSS_tracking.carrier_lock_test = v19;
|
||||
GNSS_tracking.var1 = v20;
|
||||
GNSS_tracking.var2 = v21;
|
||||
GNSS_tracking.PRN = v22;
|
||||
end
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue
Block a user